mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
11ab5e3f3d
Timeout defaults to 200ms. Timeout can be disabled by setting parameter to 0. Timeout should be configured to be able to handle at small number of missed packets.
162 lines
3.6 KiB
C++
162 lines
3.6 KiB
C++
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include "GCS_MAVLink.h"
|
|
|
|
// Global parameter class.
|
|
//
|
|
class Parameters {
|
|
public:
|
|
static const uint16_t k_format_version = 2;
|
|
|
|
enum {
|
|
// Layout version number, always key zero.
|
|
//
|
|
k_param_format_version = 0,
|
|
k_param_gps,
|
|
k_param_compass,
|
|
k_param_can_node,
|
|
k_param_can_baudrate0,
|
|
k_param_baro,
|
|
k_param_buzz_volume,
|
|
k_param_led_brightness,
|
|
k_param_airspeed,
|
|
k_param_rangefinder,
|
|
k_param_flash_bootloader,
|
|
k_param_rangefinder_baud,
|
|
k_param_adsb_baudrate,
|
|
k_param_hardpoint_id,
|
|
k_param_hardpoint_rate,
|
|
k_param_baro_enable,
|
|
k_param_esc_number,
|
|
k_param_battery,
|
|
k_param_debug,
|
|
k_param_serial_number,
|
|
k_param_adsb_port,
|
|
k_param_servo_channels,
|
|
k_param_rangefinder_port,
|
|
k_param_gps_port,
|
|
k_param_msp_port,
|
|
k_param_notify,
|
|
k_param_esc_pwm_type,
|
|
k_param_logger,
|
|
k_param_log_bitmask,
|
|
k_param_can_baudrate1,
|
|
k_param_can_baudrate2,
|
|
k_param_can_protocol0,
|
|
k_param_can_protocol1,
|
|
k_param_can_protocol2,
|
|
k_param_sysid_this_mav,
|
|
k_param_serial_manager,
|
|
k_param_gps_mb_only_can_port,
|
|
k_param_scripting,
|
|
k_param_esc_telem_port,
|
|
k_param_can_fdmode,
|
|
k_param_can_fdbaudrate0,
|
|
k_param_can_fdbaudrate1,
|
|
k_param_node_stats,
|
|
k_param_rangefinder_max_rate,
|
|
k_param_efi,
|
|
k_param_efi_port,
|
|
k_param_efi_baudrate,
|
|
k_param_esc_telem_rate,
|
|
k_param_can_slcan_cport,
|
|
k_param_temperature_sensor,
|
|
k_param_esc_command_timeout_ms,
|
|
};
|
|
|
|
AP_Int16 format_version;
|
|
AP_Int16 can_node;
|
|
|
|
AP_Int32 can_baudrate[HAL_NUM_CAN_IFACES];
|
|
#if HAL_NUM_CAN_IFACES >= 2
|
|
AP_Enum<AP_CANManager::Driver_Type> can_protocol[HAL_NUM_CAN_IFACES];
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_SLCAN
|
|
AP_Int8 can_slcan_cport;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
|
|
AP_Int8 buzz_volume;
|
|
#endif
|
|
#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
|
|
AP_Int8 led_brightness;
|
|
#endif
|
|
#ifdef HAL_PERIPH_ENABLE_BARO
|
|
AP_Int8 baro_enable;
|
|
#endif
|
|
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
|
|
AP_Int8 flash_bootloader;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
|
|
AP_Int32 rangefinder_baud;
|
|
AP_Int8 rangefinder_port;
|
|
AP_Int16 rangefinder_max_rate;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_ADSB
|
|
AP_Int32 adsb_baudrate;
|
|
AP_Int8 adsb_port;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
|
|
AP_Int16 hardpoint_id;
|
|
AP_Int8 hardpoint_rate;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_HWESC
|
|
AP_Int8 esc_number;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_GPS
|
|
AP_Int8 gps_port;
|
|
#if GPS_MOVING_BASELINE
|
|
AP_Int8 gps_mb_only_can_port;
|
|
#endif
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_MSP
|
|
AP_Int8 msp_port;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_RC_OUT
|
|
AP_Int8 esc_pwm_type;
|
|
AP_Int16 esc_command_timeout_ms;
|
|
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
|
|
AP_Int8 esc_telem_port;
|
|
#endif
|
|
#if HAL_WITH_ESC_TELEM
|
|
AP_Int32 esc_telem_rate;
|
|
#endif
|
|
#endif
|
|
|
|
AP_Int8 debug;
|
|
|
|
AP_Int32 serial_number;
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
AP_Int32 log_bitmask;
|
|
#endif
|
|
|
|
#if HAL_GCS_ENABLED
|
|
AP_Int16 sysid_this_mav;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_EFI
|
|
AP_Int32 efi_baudrate;
|
|
AP_Int8 efi_port;
|
|
#endif
|
|
|
|
#if HAL_CANFD_SUPPORTED
|
|
AP_Int8 can_fdmode;
|
|
AP_Int8 can_fdbaudrate[HAL_NUM_CAN_IFACES];
|
|
#else
|
|
static constexpr uint8_t can_fdmode = 0;
|
|
#endif
|
|
Parameters() {}
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|